CN102310354A - Seven-axis numerical control automatic polishing machine for multidimensional space curved surface - Google Patents
Seven-axis numerical control automatic polishing machine for multidimensional space curved surface Download PDFInfo
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- CN102310354A CN102310354A CN201110249403A CN201110249403A CN102310354A CN 102310354 A CN102310354 A CN 102310354A CN 201110249403 A CN201110249403 A CN 201110249403A CN 201110249403 A CN201110249403 A CN 201110249403A CN 102310354 A CN102310354 A CN 102310354A
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Abstract
The invention discloses a seven-axis numerical control automatic polishing machine for a multidimensional space curved surface, which comprises a machine body, wherein an XY horizontal sliding table which can move along the X-axis direction and the Y-axis direction is arranged on the machine body; a first rotary mechanism which can rotatably move along the C axis is arranged on the XY horizontal sliding table; a workpiece rotating structure which can do rotary action along the A axis is arranged on the first rotating mechanism; a vertical base is also arranged on the machine body; a Z-axis vertical sliding table which can linearly move along the Z axis is arranged on the side wall of the vertical base; a second rotating mechanism which can rotatably move along the B axis is arranged on the Z-axis vertical sliding table; and a polishing rotary structure is arranged on the second rotating mechanism. The seven-axis numerical control automatic polishing machine has the advantages of convenience in operation and use, stability in operation, high positioning precision and processing efficiency, favorable quality of processing surface, capability of finishing polishing of any complex multidimensional space curved surface and the like.
Description
Technical field
The present invention relates to the polishing grinding field, specifically, what relate to a kind of metal and non-metallic products surface rubbing down applicable to all kinds of abnormal shapes is applied to the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace.
Background technology
CNC numerical control control platform has Intelligent Recognition and full cut-off ring control function, and its servo unit can adopt high-performance AC servo system and the servo bus control technology of series connection.CNC numerical control control platform can be through computer program and the auxiliary purpose that reaches processing easily of 3D rendering.
At present, polishing grinding structure commonly used is too simple mostly, and it is difficult to realize the multi-faceted multi-angle grinding of multiaxis.Therefore; Existing polishing grinding mechanism can't effectively precisely process; It still need rely on the technical staff mostly and grind roughly; Cause the grinding precision mortality very high, be difficult to guarantee the rubbing down effect of various workpiece, especially be difficult to be applicable to the flexible rubbing down of the complicated irregular curved surfaces such as metal and non-metallic products surface rubbing down such as sanitaryware, bicycle accessories, textile machinery part of all kinds of abnormal shapes.How to solve the above-mentioned bottleneck of current polishing grinding technology, become a big problem of demanding urgently capturing.
Summary of the invention
The object of the present invention is to provide a kind of bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace that are applied to, this polishing and burnishing machine is easy for operation, operate steadily, positioning accuracy is high, working (machining) efficiency is high, machined surface quality and can accomplish the sanding and polishing of any complicated hyperspace curved surface.
In order to solve the problems of the technologies described above, the present invention has adopted following technical scheme:
A kind of bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace that are applied to, it comprises fuselage; On said fuselage, be provided with and make the XY horizontal sliding table that moves along X axle, Y direction; On this XY horizontal sliding table, be provided with and on said first rotating mechanism, be provided with the workpiece rotational structure that to do spinning movement along the A axle along first rotating mechanism of C axis rotation; On said fuselage, also be provided with stand; On this stand sidewall, be provided with and make the vertical slide unit of vertical straight-line Z axle along the Z axle; On the vertical slide unit of said Z axle, be provided with and on said second rotating mechanism, be provided with the polishing rotational structure along second rotating mechanism of B axis rotation.
Above-mentioned a kind of being applied in the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace, said XY horizontal sliding table is made up of X axle horizontal slide unit and the Y axle horizontal slide unit that is arranged on the X axle horizontal slide unit.
Above-mentioned a kind of being applied in the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace; On said fuselage, be provided with first guide rail and first screw rod is installed on fuselage; On this first screw rod, be set with one first nut; One first servomotor is connected with said first screw drive; The said X axle horizontal slide unit and the first nut tight fit and be formed on said first servomotor and drive down X axle horizontal slide unit and can make the X axle horizontal along first guide rail and move; And, being provided with second guide rail on the said X axle horizontal slide unit and on said X axle horizontal slide unit, second screw rod being installed, on this second screw rod, be set with one second nut; One second servomotor is connected with said second screw drive, the said Y axle horizontal slide unit and the second nut tight fit and be formed on said second servomotor and drive down said Y axle horizontal slide unit and make the X axle horizontal along second guide rail and move and form said XY horizontal sliding table and can move along X axle, Y direction.
Above-mentioned a kind of being applied in the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace; On said stand, be provided with the stand guide rail and the 3rd screw rod is installed on stand; On the 3rd screw rod, be set with one the 3rd nut; One the 7th servomotor is connected with said the 3rd screw drive, vertical slide unit of said Z axle and the 3rd nut tight fit and be formed on said the 7th servomotor and drive down the vertical slide unit of Z axle and can make the Z axle along the stand guide rail and make vertical rectilinear motion.
Above-mentioned a kind of being applied in the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace, said first rotating mechanism has one the 3rd servomotor.
Above-mentioned a kind of being applied in the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines polishing of hyperspace, said workpiece rotational structure comprises workpiece installation portion and the 4th servomotor that is connected with this workpiece installation portion.
Above-mentioned a kind of being applied in the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace, said second rotating mechanism has one the 6th servomotor.
Above-mentioned a kind of being applied in the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace; Said polishing rotational structure comprise one can be to workpiece polish polishing and grinding head and one the 5th servomotor of processing, said the 5th servomotor is connected with said polishing and grinding head through a polishing and grinding head rotating shaft.
The present invention is owing to having adopted said structure, so its beneficial effect that has is following:
The present invention is as the numerical control automatic polishing and burnishing machine; Its structure division is realized six interlock interpolations completion exercises through cooperating with CNC numerical control control platform; Can realize X axle, Y axle, Z axle rectilinear motion; And A axle, B axle, C axle rotatablely move, and the machine action can be through being realized by the control of CNC numerical control control platform, realizes that through numerical control programming seven axis six-linkages can accomplish any complex space curved surface sanding and polishing.The present invention is rational in infrastructure, easy for operation, the workpiece radius of gyration is little, the angle of revolution is big, the lathe volume is little, operate steadily, positioning accuracy is high, and the protection simplicity of design is attractive in appearance, good rigidly, flexibility is strong, response is fast, working (machining) efficiency is high, machined surface quality, the rubbing down blade profile is accurate, labour intensity is low, environmental protection condition is good.The present invention can constitute characteristics according to different Special-Shaped Surface; Adopt total control interlock to carry out thick rubbing down, smart rubbing down and polishing processing to surface of the work automatically; It is specially adapted to complex space curve workpiece numerical control polishing, like the flexible rubbing down applicable to complicated irregular curved surfaces such as the metal of all kinds of abnormal shapes and non-metallic products surface rubbing down such as bathroom five metals, architectural hardware, bicycle accessories, textile machinery part, screw type, impeller blades.
After the detailed description that combines advantages embodiment of the present invention, it is clearer that characteristics of the present invention and advantage will become.
Description of drawings
Fig. 1 is the structure chart of embodiment of the present invention;
Fig. 2 is the sketch map of first screw portion;
Fig. 3 is the sketch map of second screw portion; And
Fig. 4 is the sketch map of the 3rd screw portion.
Wherein:
1. first servomotor, 2. first screw rod, 3. second servomotor, 4. first rotating mechanism, 5. the 3rd servomotor, 6. the 4th servomotor; 7. workpiece installation portion, 8. polishing and grinding head, 9. the 5th servomotor, 10. second rotating mechanism, 11. the 6th servomotors, 12. the 3rd screw rods; 13. the 7th servomotor, 14. fuselages, 15. stands, 16.XY horizontal sliding table, the vertical slide unit of 17.Z axle, 18. polishing rotational structures; 19.X the axle horizontal slide unit, 20.Y axle horizontal slide unit, 21. first guide rails, 22. first nuts, 23. second guide rails, 24. second screw rods; 25. second nut, 26. stand guide rails, 27. workpiece rotational structures, 28. the 3rd nuts, 29. polishing and grinding head rotating shafts.
The specific embodiment
With an embodiment the present invention is done further detailed explanation below, but should explain that protection scope of the present invention is not limited only to this.
Consult Fig. 1, a kind of bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace that are applied to, it comprises fuselage 14.On said fuselage 14, be provided with and make the XY horizontal sliding table 16 that moves along X axle, Y direction; On this XY horizontal sliding table 16, being provided with can be along first rotating mechanism 4 of C axis rotation; On said first rotating mechanism 4, be provided with the workpiece rotational structure 27 that to do spinning movement along the A axle; Wherein, Above-mentioned can be meant that first rotating mechanism 4 is parallel to the XY horizontal plane and rotates along first rotating mechanism 4 of C axis rotation; Above-mentioned can be meant that do spinning movement workpiece rotational structure 27 can spatially be parallel to certain horizontal plane of simultaneously making spinning movement and this spinning movement institute foundation along the A axle different with the XY horizontal plane, and for example, this workpiece rotational structure 27 can rotate on a certain plane vertical on the solid space etc. with said XY horizontal plane and do not influence protection scope of the present invention.On said fuselage 14, also be provided with stand 15; On these stand 15 sidewalls, be provided with and make the vertical slide unit 17 of vertical straight-line Z axle along the Z axle; On the vertical slide unit 17 of said Z axle, being provided with can be along second rotating mechanism 10 of B axis rotation; On said second rotating mechanism 10, be provided with polishing rotational structure 18; Wherein, second rotating mechanism 10 is parallel to Z and axially rotates in above-mentioned can being meant along second rotating mechanism 10 of B axis rotation, and polishing rotational structure 18 itself also can be done rotation polishing action.
In this embodiment, first rotating mechanism 4 has one the 3rd servomotor 5.Workpiece rotational structure 27 comprises workpiece installation portion 7 and the 4th servomotor 6 that is connected with this workpiece installation portion 7, and wherein, workpiece to be processed is installed in workpiece installation portion 7.Second rotating mechanism 10 has one the 6th servomotor 11.Polishing rotational structure 18 comprises a polishing and grinding head 8 and one the 5th servomotor 9, and said the 5th servomotor 9 is connected with said polishing and grinding head 8 through a polishing and grinding head rotating shaft 29, and wherein, polishing and grinding head 8 is used for workpiece is carried out sanding and polishing.
In this embodiment; Said XY horizontal sliding table 16 is made up of X axle horizontal slide unit 19 and the Y axle horizontal slide unit 20 that is arranged on the X axle horizontal slide unit 19, and this XY horizontal sliding table 16 can make the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace that are applied to of the present invention move in X axle, Y direction.
Consult Fig. 2 and Fig. 3; For X axle horizontal slide unit 19 and Y axle horizontal slide unit 20; Specifically; Can on said fuselage 14, be provided with first guide rail 21 and first screw rod 2 is installed on fuselage 14; On this first screw rod 2, be set with one first nut, 22, one first servomotors 1 and be in transmission connection, said X axle horizontal slide unit 19 and first nut, 22 tight fits and be formed on said first servomotor 1 and drive time X axle horizontal slide unit 19 and can make the X axle horizontal along first guide rail 21 and move with said first screw rod 2; And; Can be provided with second guide rail 23 on the said X axle horizontal slide unit 19 and on said X axle horizontal slide unit 19, second screw rod 24 is being installed; On this second screw rod 24, be set with one second nut 25; One second servomotor 3 is in transmission connection with said second screw rod 24, said Y axle horizontal slide unit 20 and second nut, 25 tight fits and be formed on said second servomotor 3 and drive time said Y axle horizontal slide units 20 and make the Y axle horizontal along second guide rail 23 and move and form said XY horizontal sliding table 16 and can move along X axle, Y direction.
The motion process of XY horizontal sliding table 16 is specially: on the one hand; For X axle horizontal slide unit 19; When 1 work of first servomotor, it drives 2 motions of first screw rod, because first nut 22 is to be sleeved on first screw rod 2 and this first nut 22 and X axle horizontal slide unit 19 tight fits; Therefore, the athletic meeting of first screw rod 2 makes X axle horizontal slide unit 19 action and forms X axle horizontal slide unit 19 and can do moving of X-direction along first guide rail 21.On the other hand; For Y axle horizontal slide unit 20; When 3 work of second servomotor, it drives 24 motions of second screw rod, because second nut 25 is to be sleeved on second screw rod 24 and this second nut 25 and Y axle horizontal slide unit 20 tight fits; Therefore, the athletic meeting of second screw rod 24 makes Y axle horizontal slide unit 20 action and forms Y axle horizontal slide unit 20 and can do moving of Y direction along second guide rail 23.
Consult Fig. 4; For the vertical slide unit 17 of Z axle; Can on said stand 15, be provided with stand guide rail 26 and the 3rd screw rod 12 is installed on stand 15; On the 3rd screw rod 12, be set with one the 3rd nut 28, the 7th servomotor 13 and be in transmission connection, the vertical slide unit 17 of said Z axle and the 3rd nut 28 tight fits and be formed on said the 7th servomotor 13 and drive time vertical slide units 17 of Z axle and can make the vertical rectilinear motion of Z axle along stand guide rail 26 with said the 3rd screw rod 12.
The motion process of the vertical slide unit 17 of Z axle is specially: when 13 work of the 7th servomotor; It drives 12 motions of the 3rd screw rod; Because the 3rd nut 28 is to be sleeved on the 3rd screw rod 12 and the 3rd nut 28 and vertical slide unit 17 tight fits of Z axle; Therefore, the athletic meeting of the 3rd screw rod 12 makes 17 actions of the vertical slide unit of Z axle and forms the vertical slide unit 17 of Z axle and can make the vertical rectilinear motion of Z axle along stand guide rail 26.
In this embodiment, first screw rod 2, second screw rod 24, the 3rd screw rod 12 can adopt ball screw of band ball or the like and not influence protection scope of the present invention.First servomotor 1, second servomotor 3, the 3rd servomotor 5, the 4th servomotor 6, the 5th servomotor 9, the 6th servomotor 11, the 7th servomotor 13 can adopt servomotor of band encoder or the like and not influence protection scope of the present invention.
The course of work of this embodiment is following:
The present invention is as the numerical control automatic polishing and burnishing machine; Its structure division is realized six interlock interpolations completion exercises through cooperating with CNC numerical control control platform; Realize X axle, Y axle, Z axle rectilinear motion, and A axle, B axle, C axle rotatablely move, other adds polishing and grinding head rotating shaft 29 and forms the seven-axis linkage structures.
Specifically, X-direction action drives X axle horizontal slide unit 19 by 1 action of first servomotor and moves along X-direction and accomplish; Y direction action drives Y axle horizontal slide unit 20 by second servomotor 3 and moves along Y direction and accomplish; The action of C axle direction of rotation drives 4 motions of first rotating mechanism by the 3rd servomotor 5 and accomplishes; The spinning movement of A axle drives 7 rotations of workpiece installation portion by the 4th servomotor 6 and accomplishes, and wherein, workpiece to be processed is installed on workpiece installation portion 7; The action of polishing and grinding head rotating shaft drives polishing and grinding head 8 rotations by the 5th servomotor 9 and accomplishes; The spinning movement of B axle drives 10 rotations of second rotating mechanism by the 6th servomotor 11 and accomplishes; The action of Z-direction is made the vertical rectilinear motion of Z axle by the vertical slide unit 17 of the 7th servomotor 13 drive Z axles and is done to accomplish.
Action of the present invention is through realizing that by the control of CNC numerical control control platform can accomplish any complex space curved surface sanding and polishing through numerical control programming realization seven-axis linkage, automaticity is high.
The present invention can move according to curve surface of workpiece, in conjunction with CNC numerical control control platform, can when rubbing down, import the 3D figure of processing parts; The programming movement locus; Thereby both can accomplish batch machining, also can make up N platform N station, be designed to combination examination N axle rubbing down equipment according to technological requirement.The present invention is applicable to the flexible rubbing down of complicated irregular curved surfaces such as the metal of all kinds of abnormal shapes and non-metallic products surface rubbing down such as bathroom five metals, architectural hardware, bicycle accessories, textile machinery part, screw type, impeller blade.
Though described embodiment of the present invention in conjunction with accompanying drawing; But those skilled in the art can make various distortion or modification within the scope of the appended claims; As long as be no more than the described protection domain of claim of the present invention, all should be within protection scope of the present invention.
Claims (8)
1. one kind is applied to the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace, and it comprises fuselage (14); It is characterized in that: on said fuselage (14), be provided with and make the XY horizontal sliding table (16) that moves along X axle, Y direction; On this XY horizontal sliding table (16), be provided with and on said first rotating mechanism (4), be provided with the workpiece rotational structure (27) that to do spinning movement along the A axle along first rotating mechanism (4) of C axis rotation; On said fuselage (14), also be provided with stand (15); On this stand (15) sidewall, be provided with and make the vertical vertical slide unit of straight-line Z axle (17) along the Z axle; On the vertical slide unit of said Z axle (17), be provided with and on said second rotating mechanism (10), be provided with polishing rotational structure (18) along second rotating mechanism (10) of B axis rotation.
2. the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace that are applied to according to claim 1 is characterized in that: said XY horizontal sliding table (16) is made up of X axle horizontal slide unit (19) and the Y axle horizontal slide unit (20) that is arranged on the X axle horizontal slide unit (19).
3. the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace that are applied to according to claim 2; It is characterized in that: be provided with first guide rail (21) on the said fuselage (14) and first screw rod (2) is installed on fuselage (14); On this first screw rod (2), be set with one first nut (22); One first servomotor (1) and said first screw rod (2) are in transmission connection, and said X axle horizontal slide unit (19) is formed on said first servomotor (1) and drives down X axle horizontal slide unit (19) and can do the motion of X axle horizontal along first guide rail (21) with first nut (22) tight fit; And; Be provided with second guide rail (23) on the said X axle horizontal slide unit (19) and second screw rod (24) is being installed on said X axle horizontal slide unit (19); On this second screw rod (24), be set with one second nut (25); One second servomotor (3) and said second screw rod (24) are in transmission connection, and said Y axle horizontal slide unit (20) is formed on said second servomotor (3) and drives down said Y axle horizontal slide unit (20) and do the motion of Y axle horizontal and form said XY horizontal sliding table (16) and can move along X axle, Y direction along second guide rail (23) with second nut (25) tight fit.
4. the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace that are applied to according to claim 1 and 2; It is characterized in that: be provided with stand guide rail (26) on the said stand (15) and the 3rd screw rod (12) is installed on stand (15); On the 3rd screw rod (12), be set with one the 3rd nut (28); One the 7th servomotor (13) is in transmission connection with said the 3rd screw rod (12), and the vertical slide unit of said Z axle (17) is formed on the following vertical slide unit of Z axle (17) of said the 7th servomotor (13) drive with the 3rd nut (28) tight fit can make the vertical rectilinear motion of Z axle along stand guide rail (26).
5. the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace that are applied to according to claim 1 and 2, it is characterized in that: said first rotating mechanism (4) has one the 3rd servomotor (5).
6. the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace that are applied to according to claim 1 and 2, it is characterized in that: said workpiece rotational structure (27) comprises workpiece installation portion (7) and the 4th servomotor (6) that is connected with this workpiece installation portion (7).
7. the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace that are applied to according to claim 1 and 2, it is characterized in that: said second rotating mechanism (10) has one the 6th servomotor (11).
8. the bent profile seven Shaft and NC Machining Test automatic polishing and burnishing machines of hyperspace that are applied to according to claim 1 and 2; It is characterized in that: said polishing rotational structure (18) comprise one can be to workpiece the polish polishing and grinding head (8) and one the 5th servomotor (9) of processing, said the 5th servomotor (9) is connected with said polishing and grinding head (8) through a polishing and grinding head rotating shaft (29).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110249403A CN102310354A (en) | 2011-08-26 | 2011-08-26 | Seven-axis numerical control automatic polishing machine for multidimensional space curved surface |
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| CN201110249403A CN102310354A (en) | 2011-08-26 | 2011-08-26 | Seven-axis numerical control automatic polishing machine for multidimensional space curved surface |
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| CN102528629A (en) * | 2012-03-20 | 2012-07-04 | 沈阳 | Intelligent numerical control polishing machine |
| CN103128612A (en) * | 2013-03-04 | 2013-06-05 | 昆山允可精密工业技术有限公司 | Auto-feed tool machining device |
| CN106041708A (en) * | 2016-07-29 | 2016-10-26 | 上海泊志机械制造厂 | Special-shaped part polishing process and equipment |
| CN106392834A (en) * | 2016-05-30 | 2017-02-15 | 广州启帆工业机器人有限公司 | Grinding and polishing device of water faucets |
| CN106625086A (en) * | 2015-10-29 | 2017-05-10 | 襄阳金天元机电科技有限公司 | Intelligently automatic casting burr and chamfer cleaning machine |
| CN107127646A (en) * | 2017-06-07 | 2017-09-05 | 自贡金工超硬工具有限公司 | 5-shaft linkage numerical control grinding machine is used in a kind of rotary file processing |
| CN107639473A (en) * | 2017-09-02 | 2018-01-30 | 临武县华湘再生资源回收有限公司 | The knife sharpener of plastic crushing machine knife blade |
| CN108284357A (en) * | 2018-03-09 | 2018-07-17 | 石家庄钢铁有限责任公司 | A kind of round steel surface artificial spiral auxiliary device for polishing |
| CN109136495A (en) * | 2018-10-30 | 2019-01-04 | 泰州市金鹰精密铸造有限公司 | Multifunctional multistage high frequency forges firer's dress |
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| CN112873049A (en) * | 2021-04-29 | 2021-06-01 | 四川力源精工科技有限公司 | Grinding mechanism and composite grinding machine |
| WO2021147359A1 (en) * | 2020-01-22 | 2021-07-29 | 科德数控股份有限公司 | Blade disk machining center |
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| CN108284357A (en) * | 2018-03-09 | 2018-07-17 | 石家庄钢铁有限责任公司 | A kind of round steel surface artificial spiral auxiliary device for polishing |
| CN109136495A (en) * | 2018-10-30 | 2019-01-04 | 泰州市金鹰精密铸造有限公司 | Multifunctional multistage high frequency forges firer's dress |
| CN110000683A (en) * | 2019-04-18 | 2019-07-12 | 五邑大学 | A kind of faucet surface process equipment and processing technology |
| WO2021147359A1 (en) * | 2020-01-22 | 2021-07-29 | 科德数控股份有限公司 | Blade disk machining center |
| CN112873049A (en) * | 2021-04-29 | 2021-06-01 | 四川力源精工科技有限公司 | Grinding mechanism and composite grinding machine |
| CN113352205A (en) * | 2021-05-26 | 2021-09-07 | 陶晓静 | Precision grinding machine |
| CN115194533A (en) * | 2022-07-29 | 2022-10-18 | 中国电子科技集团公司第三十八研究所 | Horizontal machining center |
| CN116652794A (en) * | 2023-06-16 | 2023-08-29 | 浙江大学 | Seven-axis six-linkage structure flexible grinding and polishing machine tool |
| CN116652794B (en) * | 2023-06-16 | 2024-06-07 | 浙江大学 | Seven-axis six-linkage structure flexible grinding and polishing machine tool |
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